Work machine

Abstract

There is a need for a work machine that is capable of performing satisfactory work without losing stability in posture even when performing work while moving on a slope land. This work machine comprises: a machine body 10; a plurality of ground wheels 11 that movably support the machine body 10; a work device 12 that is provided at a lower part of the machine body 10 and performs prescribed ground work; and a propulsion generation device 17 that is positioned at a position higher than the center of gravity position WP in a state in which the machine body 10 is inclined to the maximum inclination angle, and generates propulsion so that the upper part in the inclination is pushed downward.

Description

Work equipment

[0001] The present invention relates to a work machine, such as a grass cutter or a chemical sprayer, that performs work while traveling on a slope.

[0002] In a conventional brush cutter, which is an example of a working machine, a long steering handle is provided that extends outward from the side of the machine body and is supported on the machine body so that it can swing (see, for example, Patent Document 1). With this configuration, an operator can operate the steering handle while the working machine moves up a slope to perform brush cuts.

[0003] Japanese Patent Application Publication No. 2007-53992

[0004] In the conventional configuration described above, the operator can operate the steering handle to perform mowing work on slopes without the work machine becoming unstable. However, the configuration described above requires the operator to constantly operate the machine, which has the disadvantage of making it difficult to work efficiently, for example, when the slope covers a wide area. Therefore, it has been considered to make the work machine movable unmanned, but when moving on slopes in such an unmanned state, the work machine's posture may become unstable, which may hinder the mowing work from being performed effectively.

[0005] Therefore, there has been a demand for a work machine that can perform work well without becoming unstable even when working while moving on a slope.

[0006] The characteristic configuration of the work machine of the present invention is that it is equipped with a body, a plurality of ground-contact wheels that support the body so that it can move, a work device that is provided on the bottom of the body and performs specified ground work, and a thrust generating device that is located at a point higher than the center of gravity when the body is inclined at the maximum inclination angle and generates thrust so that the upper part of the inclination is pushed downward.

[0007] According to the present invention, when a vehicle is working on a slope while traveling with multiple ground-contacting wheels on the ground, if the thrust generating device is activated, the thrust generated by the thrust generating device pushes the upper inclined portion of the vehicle downward. Because the thrust generating device is located higher than the center of gravity when the vehicle is tilted at the maximum inclination angle, the downward pushing force acts efficiently on the entire vehicle. As a result, it is possible to avoid disadvantages such as the upper inclined portion of the vehicle lifting off the ground, causing the vehicle's posture to become unstable and preventing the vehicle from working properly using the work equipment.

[0008] Therefore, it has become possible to provide a work machine that can perform work well without becoming unstable in posture, even when working while moving on a slope.

[0009] In the present invention, it is preferable that the aircraft is provided with an attitude detection means for detecting an attitude change state of the aircraft, and a control unit for controlling the operation of the thrust generating device, and that the control unit operates the thrust generating device based on the detection result of the attitude detection means.

[0010] According to this configuration, the attitude detection means detects the attitude change state of the aircraft, and for example, the thrust generating device is not activated when the inclination is gentle, but is activated when it is determined that the inclination angle is such that the upper part of the inclined body of the aircraft may lift off the ground and cause the attitude to become unstable. In this way, the thrust generating device can be operated efficiently and without waste depending on the inclination state.

[0011] In the present invention, it is preferable that the airframe is supported by a plurality of the ground-contacting wheels so as to be able to move in the front-rear direction, and that the thrust generating devices provided on the sides of the airframe are operated.

[0012] With this configuration, when the vehicle is traveling on a slope in the fore-and-aft direction using multiple ground-contacting wheels, the vehicle's attitude becomes unstable due to the incline, and this is caused by changes in attitude in the lateral direction. Therefore, by operating the thrust generating devices provided on the sides of the vehicle, it is possible to prevent the vehicle's attitude from becoming unstable in the lateral direction.

[0013] In the present invention, when the aircraft is moving on a slope in a direction perpendicular to the slope direction, it is preferable to operate the thrust generating device located on at least the upper slope side of the right and left sides of the aircraft.

[0014] According to this configuration, by activating the thrust generating device, the parts of the right and left sides of the aircraft that are located on the upper slope of the aircraft are pushed downward, thereby stabilizing the aircraft's attitude.

[0015] In the present invention, it is preferable that the airframe is supported by a plurality of the ground-contacting wheels so as to be able to move in the front-to-rear direction, and that the thrust generating devices provided at the front and rear of the airframe are operated.

[0016] According to this configuration, when the vehicle is traveling over a protruding portion, the vehicle may assume a posture in which the front of the vehicle rises and the rear of the vehicle descends. In such a case, the posture can be stabilized by activating the thrust generating device provided in the front of the vehicle. Also, when the vehicle assumes a posture in which the front of the vehicle descends and the rear of the vehicle rises, the posture can be stabilized by activating the thrust generating device provided in the rear of the vehicle.

[0017] In the present invention, when the vehicle is moving on a slope along the inclination direction, it is preferable to operate the thrust generating device located at least on the upper side of the slope out of the front and rear of the vehicle.

[0018] According to this configuration, when the vehicle is moving along a slope, for example, when the vehicle is climbing a slope, the attitude can be stabilized by activating the thrust generating device located at the front of the vehicle, and when the vehicle is descending a slope, the attitude can be stabilized by activating the thrust generating device located at the rear of the vehicle.

[0019] In the present invention, it is preferable that the vehicle travels while being towed in a suspended state by an unmanned aerial vehicle.

[0020] According to this configuration, by towing the vehicle with an unmanned aerial vehicle, work can be carried out efficiently without the need for cumbersome tasks such as manually controlling the vehicle's movement.

[0021] 1 is a front view of the work system. FIG. 2 is a plan view of the work system. FIG. 3 is a plan view of the mower. FIG. 4 is a front view of the mower. FIG. 5 is a plan view of the protective member. FIG. 6 is a side view of the protective member. FIG. 7 is a plan view of the rotational action area of ​​the work propeller. FIG. 8 is a side view of the rotational action area of ​​the work propeller. FIG. 9 is a control block diagram. FIG. 10 is a front view of the mower showing a mowing operation state. FIG. 11 is a front view of the mower showing a mowing operation state of another embodiment. FIG. 12 is a side view of the mower showing a mowing operation state of another embodiment. FIG. 13 is a side view of the mower showing a mowing operation state of another embodiment.

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow FR shown in Fig. 2 will be referred to as "front," the direction of the arrow BK will be referred to as "rear," the direction of the arrow LH shown in Figs. 1 and 2 will be referred to as "left," and the direction of the arrow RH will be referred to as "right." The direction of the arrow UP shown in Fig. 1 will be referred to as "up," and the direction of the arrow DW will be referred to as "down."

[0023] 1 and 2 show a work system in which a brush cutter A serving as a work machine is suspended and supported by an unmanned aerial vehicle via a suspending device. The work system includes an unmanned aerial vehicle (Abombardier B) known as a drone, and a brush cutter A suspended and supported by the Abombardier B via multiple suspending devices C. The Abombardier B is configured to be able to fly independently. The Abombardier B has a main body 4, multiple flight propellers 5 serving as flight rotors, and multiple arms 6.

[0024] Although the number of flight propellers 5 and arm units 6 is not particularly limited, in this embodiment, there are six flight propellers 5 and six arm units 6. The six arm units 6 extend from the main body 4 to the left front, right front, left rear, right rear, right side, and left side, respectively.

[0025] Each flight propeller 5 is driven by the driving force of an electric motor 7 (see FIG. 9 ). Aircraft B can fly by driving each flight propeller 5. That is, when the flight propeller 5 is driven to rotate, it causes gas to flow downward, generating upward thrust. By driving each flight propeller 5, aircraft B can move in any direction, up and down, forward and backward, and left and right, while floating in the air. By driving each flight propeller 5, aircraft B can fly while stationary.

[0026] [Overall configuration of the grass cutter] The grass cutter A comprises a body 10, a plurality of ground-contacting wheels 11 that support the body 10 so that it can move, and a grass cutting device 12 that is provided on the bottom of the body 10 and serves as a working device for performing grass cutting work as a predetermined ground work. The ground-contacting wheels 11 are provided on both the left and right sides of the front of the body 10 and on both the left and right sides of the rear of the body 10. The four ground-contacting wheels 11 are supported so as to be rotatable around horizontal axes that extend in the left-right direction.

[0027] The grass cutter A according to this embodiment is provided with a total of four ground-contacting wheels 11, one on each of the left and right sides of the front of the body 10 and one on each of the left and right sides of the rear of the body 10. The grass cutter A is towed by the flying vehicle B, which is moving while flying, via four suspenders C, and can move while following the flying vehicle B. When towed, the ground-contacting wheels 11 rotate freely while following the ground, supporting the body 10. The suspenders C are made of wires. The suspenders C are not limited to wires, and may also be ropes, chains, etc.

[0028] A plurality of (four) hanging points J to which hanging devices C are connected on the airframe 10 are provided at intervals so as to surround the center of gravity WP in a plan view. As shown in Figure 3, four hanging points J are provided at intervals in the front-to-rear and left-to-right directions of the airframe 10 so as to surround the center of gravity WP of the entire brush cutter A in a plan view. One end of a hanging device C is connected to each hanging point J. The other end of the hanging device C is connected to the main body 4 of the flying vehicle B.

[0029] The state of suspension by the suspending device C can be changed and adjusted. That is, a winch 14 capable of winding up and paying out the suspending device C is provided at the end of the suspending device C on the flying vehicle B side. By operating the winch 14 and adjusting the payout amount of the suspending device C, the relative positions of the connection point on the main body 4 side of the flying vehicle B connected via the suspending device C and the connection point on the brush cutter A side (suspending point J) can be changed.

[0030] For example, the winch 14 is operated in a direction that winds up the two suspending devices C on one side in the left-right direction, making the length of the suspending devices C that are being paid out shorter than the two suspending devices C on the other side in the left-right direction. This allows the brush cutter A to assume a position in which one side in the left-right direction is raised higher than the other side. In this position, the brush cutter A can be towed by the flying vehicle B on sloping work ground in a direction perpendicular to the slope (see FIG. 10).

[0031] As shown in Figure 3, the distance between the hanging points J is greater than half the overall width of the airframe 10 in the direction in which the hanging points J are arranged. For example, the distance between the hanging points J of the two front hanging devices C is greater than half the overall width of the airframe 10 in the left-right direction, and the distance between the hanging points J of the two rear hanging devices C is greater than half the overall width of the airframe 10 in the left-right direction. Furthermore, the distance between the hanging points J of the two right hanging devices C is greater than half the overall width of the airframe 10 in the front-to-rear direction, and the distance between the hanging points J of the two left hanging devices C is greater than half the overall width of the airframe 10 in the front-to-rear direction.

[0032] A plurality of suspension points J are provided on the downstream side of the flying body B in the traveling direction of the grass cutter A and on the upstream side of the flying body B in the traveling direction of the grass cutter A, and the grass cutter A is towed in a state in which the suspension load at the suspension point J on the downstream side in the traveling direction is greater than half of the total suspension load for the grass cutter A. When the suspension load at the suspension point J on the downstream side in the traveling direction is less than half of the total suspension load, the suspension state by the suspension tool C is changed and adjusted so that it is greater than half of the total suspension load.

[0033] A state in which the suspension load at suspension point J on the downstream side in the direction of travel is less than half of the total suspension load means that the suspension load from the two suspension devices C on the downstream side in the direction of travel is less than the suspension load from the two suspension devices C on the upstream side in the direction of travel. Therefore, for example, the length of the two suspension devices C on the downstream side in the direction of travel is shortened, or the length of the two suspension devices C on the downstream side in the direction of travel is lengthened. By doing so, the winch 14 can be operated to change and adjust the suspension state by the suspension devices C so that the suspension load becomes greater than half of the total suspension load.

[0034] The flying vehicle B can support the entire grass cutter A in a state where it is levitated above the ground. When the area to be mowed is far away, the entire grass cutter A can fly and move while being suspended and supported so that it is levitated above the ground. This allows for efficient work.

[0035] The mowing device 12 is equipped with a drive unit 15 for mowing and a rotary blade 16 that is driven to rotate by the drive unit 15 (see Figure 9). The rotary blade 16 rotates at high speed by the power of the drive unit 15, allowing mowing work to be performed. The drive unit 15 may be an engine or an electric motor. The ground-contacting wheels 11 are supported on a support shaft so that they can rotate freely, and when mowing work is performed, the ground-contacting wheels 11 support the machine body 10 by following the ground while rotating freely.

[0036] [Thrust Generating Device] The grass cutter A is equipped with a thrust generating device 17 that generates thrust so that the upper part of the slope is pushed downward when the machine body 10 is tilted. The thrust generating device 17 is provided on the side of the machine body 10. The grass cutter A is often used to cut weeds growing on slopes. When working on slopes, the machine body 10 is moved in a direction perpendicular to the slope to perform the grass cutting work, as shown in Figure 10.

[0037] Depending on the conditions of the work site, the inclination angle of the slope may be large, resulting in a large lateral tilt angle of the machine body 10. If the lateral tilt angle of the machine body 10 becomes large and the machine body 10 tilts further beyond the maximum tilt angle, the upper side (mountain side) of the machine body 10 in the direction of inclination may rise, and the mowing device 12 may rise above the ground. Therefore, in the brush cutter A according to this embodiment, a thrust generating device 17 is provided on the lateral side of the machine body 10 that corresponds to the upper side (mountain side) in the direction of inclination.

[0038] The thrust generating device 17 is equipped with a plurality of work propellers 18 as work rotors, a plurality of electric motors 19 that individually rotate and drive the plurality of work propellers 18, a support frame 20 that supports the plurality of electric motors 19, and a single protective member 21 that covers the periphery of the plurality of work propellers 18.

[0039] The work propellers 18 are driven to rotate by electric motors 19, causing gas (air) to flow upward, generating thrust. A plurality of work propellers 18 are provided and aligned along the fore-and-aft direction of the aircraft. An even number of work propellers 18 (specifically, four) are provided, and adjacent work propellers 18 are driven so that they rotate in opposite directions.

[0040] The work propeller 18 generates an upward airflow, which generates a downward thrust that pushes the entire device downward. As a result, when the aircraft 10 is tilted, the thrust generating device 17 can generate a thrust that pushes the upper portion of the tilt downward.

[0041] The support frame 20 includes a frame main body 23 that extends along the fore-and-aft direction of the aircraft body and supports four electric motors 19, and a connecting arm 24 that extends from the center of the frame main body 23 in the fore-and-aft direction of the aircraft body 10 toward the aircraft body 10 and is connected to the aircraft body 10.

[0042] The thrust generating device 17 is provided with a blade body support portion 25 that rotatably supports the work propeller 18. The blade body support portion 25 is provided below the work propeller 18 and is fixed to the frame main body portion 23 of the support frame 20. The electric motors 19 are supported integrally with the blade body support portion 25. Therefore, four electric motors 19 are supported by the frame main body portion 23.

[0043] A thrust application point Q, at which the thrust generating device 17 applies thrust to the airframe 10, is set between an even number of work propellers 18. The thrust generating device 17 applies thrust to the airframe 10 at a connection point of the support frame 20 to the airframe 10. As shown in FIG. 3 , the connecting arm portion 24 of the support frame 20 is set at an intermediate position among the four work propellers 18 lined up in the fore-and-aft direction of the airframe 10, i.e., between the second and third work propellers 18 from the front. Therefore, the position of this connecting arm portion 24 is set between an even number (four) of work propellers 18. The even number is not limited to four and may be changed to two, six, eight, etc.

[0044] The thrust application point Q is set at a position close to the center of gravity WP of the machine body 10. In the brush cutter A according to this embodiment, as shown in FIG. 3 , the center of gravity WP of the machine body 10 is located in the middle in the front-to-rear direction and closer to the thrust generating device 17. Due to the provision of the thrust generating device 17, the center of gravity WP is shifted laterally to one side from the center position in the left-to-right direction. The connecting arm 24 is connected to the machine body 10 at a position close to the center of gravity WP. Therefore, the thrust application point Q is set at a position close to the center of gravity WP of the machine body 10.

[0045] The thrust generating device 17 is located at a position higher than the center of gravity position WP when the aircraft 10 is tilted at the maximum tilt angle, and generates thrust so that the upper tilted portion is pushed downward.

[0046] When the vehicle 10 moves on a slope, if the vehicle 10 tilts significantly and the center of gravity WP exceeds a limit, there is a risk of the vehicle tipping downward. Therefore, as shown in Figure 10, the thrust generating device 17 is provided so as to be positioned higher than the center of gravity WP when the vehicle 10 is tilted to the maximum angle of inclination close to the angle at which tipping may occur.

[0047] When the machine body 10 tilts, there is a risk that the upper part of the slope will lift up due to the tilted posture. However, the thrust generating device 17 generates thrust that pushes the upper part of the slope downward from a point higher than the center of gravity position WP, so that the upper part of the slope is prevented from lifting up and is pushed downward. As a result, the mowing device 12 can be effectively mowed while preventing it from lifting up from the ground.

[0048] [Protective Member] The protective member 21 will now be described. The protective member 21 has a plurality of crosspieces 26, and a plurality of ventilation sections 27 are formed between the crosspieces 26 to allow the flow of gas generated by the work propeller 18. In the upper portion 21A of the protective member 21, the area occupied by the plurality of crosspieces 26 relative to the total area of ​​the rotational action region Y of the work propeller 18 when viewed in the direction of gas flow is 1 to 2 percent, and more preferably 1.4 percent.

[0049] The lower portion located below the work propeller 18 has fewer crosspieces than the upper portion 21A located above the work propeller 18. In this embodiment, the lower portion located below the work propeller 18 is not provided with crosspieces, and the lower side of the work propeller 18 is open. Instead of such an open configuration, the lower portion located below the work propeller 18 may be provided with fewer crosspieces than the upper portion 21A located above the work propeller 18.

[0050] The lateral portion 21B of the protective member 21 located radially outward of the work propeller 18 has a ventilation section 28 formed therein that is large enough that the work propeller 18 rotating by the work propeller 18 cannot pass through.

[0051] The specific configuration of the protective member 21 will be described below. As shown in Figures 5 and 6, the protective member 21 includes a frame body 29 that is integrally formed to surround the periphery. The protective member 21 includes an upper portion 21A that is rectangular in plan view and covers the tops of all four work propellers 18, and four side portions 21B that cover the outer peripheries of all four work propellers 18.

[0052] As shown in Figure 5, the upper portion 21A of the protective member 21 comprises a rectangular upper frame portion 30 that forms part of the frame body 29 and is connected continuously along the outer periphery, and a plurality of upper rail members 31 that are installed across the left and right sides of the upper frame portion 30. The plurality of upper rail members 31 are arranged in a line at predetermined intervals along the fore-and-aft direction of the aircraft body 10. The predetermined intervals are such that a person cannot easily insert their hand into them. The spaces between the upper rail members 31 form ventilation sections 27 that allow gas to flow.

[0053] 8, the number and width of the upper rail members 31 are set so that the area occupied by the multiple upper rail members 31 with respect to the total area of ​​the rotational action region Y (circular) of the work propeller 18 (blade body) is 1.4 percent when viewed in the vertical direction, which is the direction of gas flow. Note that this occupied area is not limited to 1.4 percent, and may be within the range of 1 to 2 percent.

[0054] As shown in Figures 6 and 7, the lateral portion 21B of the protective member 21 forms part of the frame body 29 and includes a side frame portion 32 that is rectangular when viewed horizontally, and a plurality of lateral crosspiece members 33 that are installed across the upper and lower side portions of the side frame portion 32.

[0055] The multiple lateral rail members 33 are arranged in a line at predetermined intervals along the fore-and-aft direction of the aircraft. The spaces between the lateral rail members 33 form ventilation sections 28. The predetermined intervals are narrower than the intervals between the upper rail members 31 and are not large enough for the work propeller 18 to pass through. While allowing gas to be drawn in through the ventilation sections 28 as the work propeller 18 rotates, even if the work propeller 18 is damaged, debris can be prevented from flying outward.

[0056] 2, the work propeller 18 is located within the thrust generation region of the flight propeller 5. Specifically, the work propeller 18 is located within the thrust generation region of the flight propeller 5 that is located on the side where the thrust generating device 17 is provided, among the multiple flight propellers 5 of the aircraft.

[0057] 11, the gas flow direction of the work propeller 18 and the gas flow direction of the flight propeller 5 are both vertical and oriented in the same or approximately the same direction. Aircraft B flies so that the thrust generating region of the flight propeller 5 and the thrust generating region of the work propeller 18 overlap along the gas flow direction. In other words, the flight state of aircraft B is set so that it flies in the fore-and-aft direction of the brushcutter A, with the brushcutter A located directly below it.

[0058] In this configuration, the work propeller 18 causes the gas to flow upward, countering the downward gas flow caused by the flight propeller 5. As a result, the upward thrust of the aircraft by the flight propeller 5 can be assisted, improving the thrust generation efficiency of the aircraft.

[0059] When the thrust generating region of the flight propeller 5 and the thrust generating region of the working propeller 18 overlap along the gas flow direction, for example, the thrust generated in the flight propeller 5 may be reduced, or the thrust generated in the working propeller 18 may be reduced.

[0060] [Control Configuration] The brush cutter A is equipped with an attitude detection sensor 35 as an attitude detection means that detects the attitude change state of the machine body 10, and a work control unit 36 ​​as a control unit that controls the operation of the drive unit 15 and the thrust generating unit 17. When the machine body 10 tilts, the work control unit 36 ​​controls the operation of the work propeller 18 of the thrust generating unit 17 based on the detection result of the attitude detection sensor 35 so that air flows upward. Specifically, it controls the operation of the electric motor 19 that drives the work propeller 18. As a result, the upper part of the tilted machine body 10 is pushed downward.

[0061] As shown in Figure 9, the work control unit 36 ​​can transmit information wirelessly to and from a remote control device 37 operated by an operator via the communication unit 36a. The operator issues instructions for the work content by operating the remote control device 37. The work control unit 36 ​​controls the operation of each unit in accordance with the instructions. The work control unit 36 ​​can also transmit information wirelessly to and from a flight control unit 38 of the aircraft B. The flight control unit 38 can transmit information wirelessly to and from the remote control device 37 via the communication unit 38a. The flight control unit 38 controls the operation of the multiple electric motors 19 for driving the propellers and the winch 14 based on commands from the remote control device 37 and the work control unit 36.

[0062] When mowing work is performed with the grass cutter A while flying the flying vehicle B, the operator operates the remote control device 37 to instruct the flying operation of the flying vehicle B, and moves the grass cutter A while towing it with the suspending device C so that it moves toward the grass cutting work area. If the grass cutting work area is far away, the grass cutter A moves while floating above the ground. At this time, if the length of any of the suspending devices C is not appropriate and slack occurs, the winch 14 is operated in response to an instruction from the remote control device 37 to adjust the hanging state of the suspending device C so that the appropriate length is achieved.

[0063] When mowing work is to be performed, the mower 12 is switched to the working state in response to an instruction from the remote control device 37, and with the ground-contacting wheels 11 in contact with the ground, the mower A is towed by the flying aircraft B via the suspending device C. At this time, the mower A is towed so as to move in the fore-and-aft direction of the aircraft body. The operator may manually issue a command to perform mowing work while moving, or automatic control may be used to perform mowing work along a preset route.

[0064] In addition, when automatically controlling the mowing operation to follow a set route, the flying vehicle B may be equipped with a satellite positioning device capable of measuring its own current position, and the flight control unit 38 may control the flying vehicle B to fly automatically along a preset route. The satellite positioning device is a well-known device that receives GNSS (Global Navigation Satellite System) signals from artificial satellites, generates positioning data indicating the position of the flying vehicle B based on the received signals, and transmits the data to the flying vehicle B control unit. GNSS such as GPS, QZSS, Galileo, GLONASS, and BeiDou can be used.

[0065] When the mower A is used to cut weeds growing on a slope, the mowing operation is performed while the machine body 10 is being towed so as to move in a direction perpendicular to the slope, as shown in FIG.

[0066] While visually checking the suspension state by the four suspension tools C, when the suspension load at the suspension point J on the downstream side in the traveling direction is smaller than half of the total suspension load, the operator changes and adjusts the suspension state by the suspension tools C so that it becomes larger than half of the total suspension load.

[0067] That is, if the two suspending devices C on the downstream side in the direction of travel are longer than the two suspending devices C on the upstream side in the direction of travel and deflection occurs, the suspension load at the suspension point J on the downstream side in the direction of travel is too small. Therefore, the length of the two suspending devices C on the downstream side in the direction of travel is shortened, or the length of the two suspending devices C on the downstream side in the direction of travel is lengthened. By doing so, the winch 14 is operated to change and adjust the suspension state by the suspending devices C so that the suspension load becomes greater than half of the total suspension load.

[0068] Instead of changing or adjusting the suspension state based on the operator's manual judgment, for example, a load detector (not shown) may be provided that detects the traction load associated with multiple suspension devices C, and the flight control unit 38 may automatically change or adjust the suspension state of the suspension devices C based on the detection information from the load detector.

[0069] When the work control unit 36 ​​detects, based on the detection results of the attitude detection sensor 35, that the lateral tilt angle of the machine body 10 has reached a preset tilt angle or greater while working on a slope, it activates the thrust generating device 17. As a result, a thrust is generated that pushes the upper part of the slope downward, preventing the upper part of the slope from being lifted upward due to the tilt of the machine body 10, causing the mowing device 12 to lift off the ground, or preventing the mower A from tipping over.

[0070] [Another embodiment] (1) As shown in Figure 11, a configuration may be adopted in which thrust generating devices 17 are provided on both the left and right sides of the machine body 10. In this configuration, when the grass cutter A (working machine) is moving on a slope in a direction perpendicular to the slope direction, even if the machine body's traveling direction reverses, it is sufficient to operate the thrust generating device 17 on both the left and right sides that is located on the upper side of the slope. Furthermore, in this embodiment, the thrust generating device 17 located on the upper side of the slope may generate thrust to push the upper side of the slope of the machine body 10 downward, and the thrust generating device 17 located on the lower side of the slope may generate thrust to push the lower side of the slope of the machine body 10 upward.

[0071] (2) When the grass cutter A is moving along the inclined direction on a slope, the thrust generating device 17 located at least on the upper side of the front or rear of the machine body 10 may be configured to be activated. For example, as shown in Fig. 12, the thrust generating device 17 may be provided at the front of the machine body 10, and the thrust generating device 17 may be activated when the grass cutter A is traveling up a slope. Also, as shown in Fig. 13, the thrust generating devices 17 may be provided at both the front and rear of the machine body 10, and even if the direction of travel of the machine body reverses when the grass cutter A moves along the inclined direction on a slope, the thrust generating device 17 located on the upper side of the front and rear thrust generating devices 17 may be activated.

[0072] (3) A configuration may be adopted in which a thrust generating device 17 is provided on each of the left and right sides and the front and rear sides of the machine body 10. In this configuration, in either the case where the grass cutter A moves on a slope in a direction perpendicular to the slope direction or the case where the grass cutter A moves on a slope along the slope direction, a thrust can be generated to push the upper part of the slope downward regardless of the direction of movement.

[0073] (4) The ground-contacting wheels 11 may be running wheels, and the running wheels may be configured to move and perform work by being towed by the suspending device C while in a state where the running wheels are in contact with the ground. In this embodiment, the running wheels are driven and rotated using the power of the drive unit 15 mounted on the aircraft 10. The running wheels are driven and rotated by the flying vehicle B so as to move along the towing direction. In this configuration, the running drive force of the running wheels allows smooth movement on the ground, and grass-cutting work can be performed efficiently.

[0074] (5) Regardless of the change in the attitude of the brush cutter A, the thrust generating device 17 may be activated by manually operating the remote control device 37 .

[0075] (6) The working device is not limited to the mowing device 12, and various types of working devices such as a chemical spraying device that sprays chemicals can be used.

[0076] (7) The flying vehicle B may be of a drive type in which the propeller is driven by an internal combustion engine (engine), or may employ a parallel hybrid drive type in which the propeller is driven by both the electric motor 19 and the internal combustion engine. Also, a series hybrid drive type in which an internal combustion engine drives a generator and the generated electricity drives the electric motor 19. The flying vehicle B is not limited to being unmanned, and may also be one piloted by a person. (8) The working machine A may be configured to be towed by a traveling vehicle that travels on the ground, or may be configured to use the ground-contacting wheels 11 as traveling wheels, and perform work while self-propelled by driving the traveling wheels 11 in rotation.

[0077] The present invention can be applied to a work machine that performs work while traveling on a slope, such as a grass cutter or a chemical sprayer.

[0078] REFERENCE SIGNS LIST 10 Airframe 11 Ground-contacting wheels 12 Grass-cutting device (working device) 17 Thrust generating device 35 Attitude detection sensor (attitude detection means) 36 Work control unit (control unit) B Air vehicle (unmanned air vehicle) WP Center of gravity position

Claims

1. A working machine comprising: a machine body; a plurality of ground wheels that support the machine body so as to be movable; a working device provided below the machine body for performing a predetermined ground operation; and a thrust generating device that is located at a position higher than the center of gravity in a state where the machine body is inclined at a maximum inclination angle and generates a thrust so that an upper inclined portion is pushed downward.

2. The working machine according to claim 1, further comprising: attitude detection means for detecting a change state of the attitude of the machine body; and a control unit for controlling the operation of the thrust generating device, wherein the control unit operates the thrust generating device based on a detection result of the attitude detection means.

3. The working machine according to claim 2, wherein the machine body is supported by the plurality of ground wheels so as to be movable in the front-rear direction, and the thrust generating device provided on a lateral side portion of the machine body is operated.

4. The working machine according to claim 3, wherein when the machine body is moving in a direction orthogonal to the inclination direction on an inclined ground, at least the thrust generating device located on the upper inclined side among the right side portion and the left side portion of the machine body is operated.

5. The working machine according to claim 2, wherein the machine body is supported by the plurality of ground wheels so as to be movable in the front-rear direction, and the thrust generating device provided on the front portion and the rear portion of the machine body is operated.

6. The working machine according to claim 5, wherein when the machine body is moving along the inclination direction on an inclined ground, at least the thrust generating device located on the upper inclined side among the front portion and the rear portion of the machine body is operated.

7. The working machine according to any one of claims 1 to 6, which moves while being towed in a state of being suspended and supported by an unmanned aerial vehicle.

8. The working machine according to any one of claims 1 to 6, wherein the working device performs a mowing operation while moving along the ground.

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